l0j/hdZddlZddlmZd\ZZZdZdd Z dd Z dd Z d Z dd Z dZdZdZdS)z] rendering.py -------------- Functions to convert trimesh objects to pyglet/opengl objects. N)util)rrc tj|dr t|fi|Stj|dr t|fi|Stj|drt |jfd|ji|Stj|dr t |fi|Stj|drt|jd i|fi|Std) a[ Try to convert various geometry objects to the constructor args for a pyglet indexed vertex list. Parameters ------------ obj : Trimesh, Path2D, Path3D, (n,2) float, (n,3) float Object to render Returns ------------ args : tuple Args to be passed to pyglet indexed vertex list constructor. TrimeshPath PointCloudcolorsndarray VoxelGridz'Geometry passed is not a viewable type!N) ris_instance_namedmesh_to_vertexlistpath_to_vertexlistpoints_to_vertexlistverticesr as_boxes ValueError)geometrykwargss T/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/rendering.pyconvert_to_vertexlistrs  h 22D!(55f555 & 1 1D"(55f555 , 7 7 D#H$5XXhoXQWXXX ) 4 4D#H77777 + 6 6D!"3("3"="=f"="=HHHHHBCCCT`ct|jdr{t|j}|jd}|jd}|jd}|jj}|jj } t| dr | j du} nt| dr | j du} nd} || st||krt| j |} n%|jddkr|ddddf}d |t jdf} n|rt|j|kr|j}t|j}|jd}|jd}|jd}t|jj|} nt|jd z}t!j|jd d}|jd}t!j|}t!j|jjd d } t| |} |t2||d |fd|f| f} | S)a Convert a Trimesh object to arguments for an indexed vertex list constructor. Parameters ------------- mesh : trimesh.Trimesh Mesh to be rendered group : str Rendering group for the vertex list smooth : bool Should we try to smooth shade the mesh smooth_threshold : int Maximum number of faces to smooth shade Returns -------------- args : (7,) tuple Args for vertex list constructor uvimageNbaseColorTextureTrz t2f/static)rr!)rr v3f/staticz n3f/static)hasattrvisuallenrvertex_normalsreshapetolistfacesrmaterialrr colors_to_gl main_colorshapeastypenpfloat64 smooth_shaded vertex_colors trianglestile face_normalsarange face_colors GL_TRIANGLES)meshgroupsmoothsmooth_threshold vertex_countnormalsr)rrr*no_imagecolor_glr argss rrr4s.t{D!!264=)) %--b1188:: ""2&&--//=((,,3355[^;' 8W % % ~-HH X1 2 2 0D8HHH ::SWW %<%<$H$7FFHHx{Q2A2Y$bii &;&;&C&CB&G&G&N&N&P&PQHH 6C OO&666!4=)) %--b1188:: ""2&&--//=((,,3355 9<HH4>**Q. '$+V44<))"--4466 ,''..000&99AA'JJ 55   x w D Krc f |j fd|jD}tj|}t |}tj drJ|d}tj|tj t |f}tj | }|j }|1tj dt||j D}t||}|t ||d|df|f} | S)aY Convert a Path3D object to arguments for a pyglet indexed vertex list constructor. Parameters ------------- path : trimesh.path.Path3D object Mesh to be rendered group : str Rendering group for the vertex list Returns -------------- args : (7,) tuple Args for vertex list constructor c^g|])}tj|*Sr )r stack_linesdiscrete).0ers r z&path_to_vertexlist..s0MMM!t 8 4 455MMMrrr Ncg|]H\}}tjt|df|ztjISr)r/onesr%r.uint8)rFscs rrHz&path_to_vertexlist..sU   Aq#a&&!%%)11"(;;   r)countr"r)rentitiesr vstack_emptyr%is_shaper'r/ column_stackzerosr6r(r vstackzipr+GL_LINES) pathr:rstackedlinesrPindexr gl_colorsrArs @rrrs:$}HNMMMt}MMMG  g & &E JJE }Xw''? g&&U(<(< =>> Ie   # # % %E[F   55     V5111I   u}}R(()  D Krc tj|tj}tj|dr6tj|tjt|f}n$tj|dstdtj t| }t|t||d| dft|t|f}|S)a Convert a numpy array of 3D points to args for a vertex list constructor. Parameters ------------- points : (n, 3) float Points to be rendered colors : (n, 3) or (n, 4) float Colors for each point group : str Rendering group for the vertex list Returns -------------- args : (7,) tuple Args for vertex list constructor dtyperI)rr!zPointcloud must be (n,3)!r"r)r/ asanyarrayr0rrSrTrUr%rr6r( GL_POINTSr'r+)pointsr r:rr\rAs rrrs&]6 4 4 4F }VW%%6&"(3v;;*?*?!@AA ]67 + +64555 Ic&kk " " ) ) + +E F   v~~b))*VS[[))  D Krctj|}t|}dddd}|jj|vr||jj}nd}|Rt j||dfr;d|jd|d}|d  }n|a|jd vrXtj ||j f|j |zd  }d|j |d}n@tj gd |dfd  }d }||fS)a8 Given a list of colors (or None) return a GL-acceptable list of colors. Parameters ------------ colors: (count, (3 or 4)) float Input colors as an array Returns --------- colors_type : str Color type colors_gl : (count,) list Colors to pass to pyglet fB)reiuN)r!rrOrz/staticr))r!rKr_)ririz c3f/static) r/raintr`kindrrSr-r'r(rLsizer4)r rP colors_dtypesr` colors_typer]s rr+r+sU$]6 " "F JJECc22M |M))fl/0 T]6E6?CC9&,q/95999 NN2&&--//  v||;;WeV[) > > > G WR[[ VXX  6&+5u555 GOOOeQZ88@@DDKKMM "  !!rcddl}t|dr|j}nt|dr|j}ndS|dS|rddlm}||}t j5}||d| d|j d | }dddn #1swxYwY| }|S) a Convert a trimesh.visual.texture.Material object into a pyglet-compatible texture object. Parameters -------------- material : trimesh.visual.texture.Material Material to be converted upsize: bool If True, will upscale textures to their nearest power of two resolution to avoid weirdness Returns --------------- texture : pyglet.image.Texture Texture loaded into pyglet form rNrrr) power_resizepng)formatz.png)filenamefile) pygletr#rrvisual.texturerprBytesIOsaveseekload get_texture)r*upsizeruimgrpregl_imagetextures rmaterial_to_texturer!s:$MMMx!!n - . .'t {t 000000l3 >1 5!!! q <$$f1$== >>>>>>>>>>>>>>>""$$G Ns!A B66B:=B:cddlm}|jdztj|tjjS)a9 Convert a numpy row-major homogeneous transformation matrix to a flat column-major GLfloat transformation. Parameters ------------- matrix : (4,4) float Row-major homogeneous transform Returns ------------- glmatrix : (16,) gl.GLfloat Transform in pyglet format rglr_)rurGLfloatr/arrayfloat32Travel)matrixrs r matrix_to_glrVsK BJObhvRZ@@@BHHJJ KKrcddlm}tj|}t |dkrtj||}|jt |z|}|S)z[ Convert an array and an optional set of args into a flat vector of gl.GLfloat rr)rurr/rr%appendr)rrArvectors r vector_to_glrksa  HUOOE 4yy1}} %&&%bj3u::% .F Mrc"ddlm}t|jt jdz }t|dksJt|dddf}||j|f||j |f||j |f||j |fg}|S)a Convert trimesh.scene.lighting.Light objects into args for gl.glLightFv calls Parameters -------------- light : trimesh.scene.lighting.Light Light object to be converted to GL transform : (4, 4) float Transformation matrix of light lightN : int Result of gl.GL_LIGHT0, gl.GL_LIGHT1, etc Returns -------------- multiarg : [tuple] List of args to pass to gl.glLightFv eg: [gl.glLightfb(*a) for a in multiarg] rrgo@rNr!) rurrcolorr.r/r0r% GL_POSITION GL_SPECULAR GL_DIFFUSE GL_AMBIENT)light transformlightNrgl_color gl_positionrAs r light_to_glrys(EK..rz::UBCCH x==A    y!Q/00K - * ) )  D Kr)NTr)N)NN)T)__doc__numpyr/rrbrXr8rrrrr+rrrrr rrrs%.! 8\ D D DFWWWWt5555p$$$$N1"1"1"h2222jLLL*   $$$$$r